Freespace Optical Flow Modeling for Automated Driving
文献类型：期刊论文
| 作者 | Feng, Yi2,3; Zhang, Ruge1; Du, Jiayuan2,3; Chen, Qijun2,3; Fan, Rui2,3 |
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2023-08-18 |
| 页码 | 10 |
| 关键词 | Optical imaging Cameras Estimation Optical computing Optical flow Mathematical models Geometrical optics Automated driving autonomous driving perception freespace optical flow vehicle localization |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2023.3300729 |
| 英文摘要 | Optical flow and disparity are two informative visual features for autonomous driving perception. They have been used for a variety of applications, such as obstacle and lane detection. The concept of "U-V-Disparity" has been widely explored in the literature, while its counterpart in optical flow has received relatively little attention. Traditional motion analysis algorithms estimate optical flow by matching correspondences between two successive video frames, which limits the full utilization of environmental information and geometric constraints. Therefore, we propose a novel strategy to model optical flow in the collision-freespace (also referred to as drivable area or simply freespace) for intelligent vehicles, with the full utilization of geometry information in a 3-D driving environment. We provide explicit representations of optical flow and deduce the quadratic relationship between the optical flow component and the vertical coordinate. Through extensive experiments on several public datasets, we demonstrate the high accuracy and robustness of our model. In addition, our proposed freespace optical flow model boasts a diverse array of applications within the realm of automated driving, providing a geometric constraint in freespace detection, vehicle localization, and more. We have made our source code publicly available at https://mias.group/FSOF. |
| 资助项目 | National Key Ramp;D Program of China |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001121918700001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://119.78.100.204/handle/2XEOYT63/38487]  |
| 专题 | 中国科学院计算技术研究所期刊论文_英文 |
| 通讯作者 | Fan, Rui |
| 作者单位 | 1.Chinese Acad Sci, Inst Comp Technol, High Performance Comp Res Ctr, Beijing 100190, Peoples R China 2.Tongji Univ, Frontiers Sci Ctr Intelligent Autonomous Syst, Shanghai 201804, Peoples R China 3.Tongji Univ, Coll Elect & Informat Engn, Shanghai Res Inst Intelligent Autonomous Syst, State Key Lab Intelligent Autonomous Syst, Shanghai 201804, Peoples R China |
| 推荐引用方式 GB/T 7714 | Feng, Yi,Zhang, Ruge,Du, Jiayuan,et al. Freespace Optical Flow Modeling for Automated Driving[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:10. |
| APA | Feng, Yi,Zhang, Ruge,Du, Jiayuan,Chen, Qijun,&Fan, Rui.(2023).Freespace Optical Flow Modeling for Automated Driving.IEEE-ASME TRANSACTIONS ON MECHATRONICS,10. |
| MLA | Feng, Yi,et al."Freespace Optical Flow Modeling for Automated Driving".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):10. |
入库方式： OAI收割
来源：计算技术研究所
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